#ifndef Main_While_Hpp
#define Main_While_Hpp
#include <chrono>
#include <memory>
#include <iostream>
#include "Serial.hpp"
#include "wheelctr.hpp"
#include "wheel_module.hpp"
#include "bianma.hpp"
#include "yaogan.hpp"
#include "data_type_define.hpp"
#include <vector>
#define wheel_msg_in_len 30 
#define wheel_msg_out_len 30 
class Wheel_in_out_module
{
  public:
    Wheel_in_out_module();
    ~Wheel_in_out_module(){}
   // void wheel_module_out();
  std::vector <int32_t> w_msg_in;
  std::vector <int32_t> w_msg_out;
  bianma *bm;
  yaogan *yg;
  wheelctr *wlc;
  wheel_module *w_module1,*w_module2,*w_module3,*w_module4;
  Data_Class *dc;
    void Run_yaokong(void);
    void Data_swap(void);
    void node_topic_callback( std::vector<int32_t> & msg);
    void node_time_callback( std::vector<int32_t> & msg);
    int test_flag,work_mode;
    int yaogan_timer_count=0;
    int stop_flag=0;
};


#endif
